A robotic system includes a support structure, a motor mount assembly, first and second parallel chains, a serial translation assembly, a sensor and a control module. The motor mount assembly includes rotary motors, where the rotary motors include a first rotary motor and a second rotary motor. The first and second parallel chains are connected to the movable platform, the rotary motors and the motor mount assembly. The serial translation assembly is connected to the supporting structure and the motor mount assembly and includes a linear actuator and a third rotary motor. The sensor is connected to the movable platform and detects force applied by a human operator on the movable platform and generates a signal indicative of the force applied. The control module controls the rotary motors and the third rotary motor based on the signal to assist the human operator in moving the movable platform.
Legal claims defining the scope of protection, as filed with the USPTO.
5. The robotic system of claim 4, wherein the lower inner chain comprises two parallel extending chains.
8. The robotic system of claim 1, the first plurality of parallel chains and the second plurality of parallel chains provide a two parallelogram-shaped arrangements.
9. The robotic system of claim 1, wherein the first plurality of parallel chains, the second plurality of parallel chains, the motor mount assembly and the serial translation assembly provide three degrees-of-freedom motion for the movable platform.
10. The robotic system of claim 1, further comprising a fastening tool attached to at least one of the movable platform and the sensor.
14. The robotic system of claim 13, wherein each of the first upper outer chain, the second upper outer chain, the first lower inner chain and the second lower inner chain include a plurality of joints and a plurality of bars connected serially.
18. The robotic system of claim 12, wherein the plurality of parallel chain sets are configured to move parallel to a plane.
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December 17, 2021
March 19, 2024
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